Research Article

Design Analysis and Experimental Study of Robotic Chair for Proton Heavy Ion Radiotherapy

Table 4

The coordinates and errors of the head circumference positioning block and the head top positioning block.

ModuleStateCalculating coordinatesMeasuring coordinatesError (mm)

Head circumference positioning block 1High position and extension(-64.7, 173.8, 360.0)(-63.5, 174.5, 357.0)1.20.7-3.0
High position and shorten(-82.0, 183.8, 360.0)(-84.0, 182.0, 358.0)-2.0-1.8-2
Low position and extension(-64.7, 173.8, 260.0)(-64.0, 173.5, 258.5)0.7-0.3-1.5
Low position and shorten(-82.0, 183.8, 260.0)(-81.0, 183.0, 261.0)1.0-0.81.0

Head circumference positioning block 2High position and extension(64.7, 173.8, 360.0)(65.0, 171.0, 358.0)0.3-2.8-2.0
High position and shorten(82.0, 183.8, 360.0)(83.5, 183.0, 358.0)1.5-0.8-2.0
Low position and extension(64.7, 173.8, 260.0)(65.5, 174.5, 260.0)0.80.70
Low position and shorten(82.0, 183.8, 260.0)(80.0, 182.5, 259.0)-2.0-1.3-1.0

Fixed head circumference positioning block 3High position(0, 34.5, 360.0)(0, 35.0, 358.5)00.5-1.5
Low position(0, 34.5, 260.0)(0, 33.5, 261.0)0-1.01.0

Head top positioning blockHigh position and extension(0, 135.0, 430.0)(1.0, 133.5, 428.5)1.0-1.5-1.5
High position and shorten(0, 135.0, 450.0)(0.5, 133.5, 449.0)0.5-1.5-1.0
Low position and extension(0, 135.0, 330.0)(0, 134.0, 328.0)0-1.0-2.0
Low position and shorten(0, 135.0, 350.0)(-0.5, 133.5, 348.5)-0.5-1.5-1.5